Road obstacle type identification method and device, vehicle and storage medium

Abstract

The application relates to the technical field of vehicle control, in particular to a road obstacle type identification method and device, a vehicle and a storage medium. The method comprises the following steps: judging whether an obstacle projection exists in a driving road in front of the vehicle; if the obstacle projection exists in the driving road in front of the vehicle, acquiring a first projection area and a first included angle of a projection generated by an irradiation target obstacle at a first time, and acquiring a second projection area and a second included angle of the projection generated by the irradiation target obstacle at a second time; and determining the type of the target obstacle according to the first projection area, the first included angle, the second projection area and the second included angle. Therefore, the type of the target obstacle existing in front is analyzed and judged according to the projection image information generated by the target obstacle existing in the road surface when the target obstacle exists in the road surface, the problems of the recognition effect of the existing technology for the obstacle existing in the road surface are not outstanding, information processing delay and the like are solved, the best opportunity of vehicle control is grasped, and user experience is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a method, device, vehicle, and storage medium for identifying road obstacle types. Background Technology

[0002] Encountering road obstacles or potholes is a common occurrence while driving, which can not only affect driving safety but also potentially cause injury to the vehicle and its occupants. Therefore, it is essential to develop a vehicle system capable of detecting and responding to road obstacles and potholes in real time.

[0003] In related technologies, methods for detecting and responding to road obstacles include: (1) collecting driving data and positioning information of the vehicle in front and uploading it to the cloud platform; the cloud platform marks the corresponding area on the map according to the positioning information; when a vehicle drives to the corresponding area, the cloud platform sends the pothole information of the area to the vehicle; when the vehicle drives in the area, it responds according to the pothole marking on the map; (2) the vehicle radar scans the road ahead through sensors, the vehicle system receives the road information data returned by the radar, processes it, and provides feedback to the vehicle control system.

[0004] However, radar sensors are not very effective at identifying potholes on the road surface. The cycle from road data collection to uploading to the cloud and then to vehicle reception and processing is relatively long, and there may be some delay in network data signals, which may cause the best time for vehicle control to be missed. These issues urgently need to be addressed. Summary of the Invention

[0005] This application provides a method, device, vehicle, and storage medium for identifying road obstacle types, in order to solve the problems of poor recognition effect and information processing delay in the existing technology for road obstacle situations, to grasp the best time for vehicle control, and to improve the user experience.

[0006] To achieve the above objectives, the first aspect of this application proposes a method for identifying road obstacle types, comprising the following steps:

[0007] Determine if there are any projected obstacles on the road ahead of the vehicle;

[0008] If the obstacle projection exists on the road ahead of the vehicle, the first projection area and the first included angle of the projection generated by the target obstacle are obtained at the first moment, and the second projection area and the second included angle of the projection generated by the target obstacle are obtained at the second moment.

[0009] The type of the target obstacle is determined based on the first projected area, the first included angle, the second projected area, and the second included angle.

[0010] According to one embodiment of this application, determining the type of the target obstacle based on the first projected area, the first included angle, the second projected area, and the second included angle includes:

[0011] Determine whether the second projected area is greater than the first projected area, and whether the second included angle is greater than the first included angle;

[0012] If the second projected area is greater than the first projected area, and the second included angle is greater than the first included angle, then the type of the target obstacle is determined to be a raised obstacle.

[0013] According to one embodiment of this application, after determining whether the second projected area is greater than the first projected area, the method further includes:

[0014] If the second projected area is smaller than the first projected area, then the target obstacle is determined to be a pothole.

[0015] According to one embodiment of this application, after determining the type of the target obstacle based on the first projected area, the first included angle, the second projected area, and the second included angle, the method further includes:

[0016] Generate target obstacle information based on the type of the target obstacle;

[0017] The target obstacle information is sent to a preset terminal to alert the user of the target obstacle.

[0018] According to one embodiment of this application, after generating target obstacle information based on the type of the target obstacle, the method further includes:

[0019] The target obstacle information is sent to the vehicle control system to control the vehicle to perform corresponding actions.

[0020] According to the road obstacle type identification method proposed in this application, when it is determined that there is an obstacle projection on the road ahead of the vehicle, the first projected area and the first included angle of the projection generated by illuminating the target obstacle are acquired at a first moment, and the second projected area and the second included angle of the projection generated by illuminating the target obstacle are acquired at a second moment; the type of the target obstacle is determined based on the first projected area, the first included angle, the second projected area, and the second included angle. Therefore, by analyzing and determining the type of the target obstacle ahead based on the projected image information generated when there is a target obstacle on the road surface, the method solves the problems of poor recognition effect and information processing delay in existing technologies, thus grasping the optimal timing for vehicle control and improving the user experience.

[0021] To achieve the above objectives, a second aspect of this application provides a road obstacle type identification device, comprising:

[0022] The judgment module is used to determine whether there is an obstacle projection on the road ahead of the vehicle;

[0023] The acquisition module is used to acquire, at a first moment, the first projection area and the first included angle of the projection generated by the target obstacle on the road in front of the vehicle, and at a second moment, the second projection area and the second included angle of the projection generated by the target obstacle.

[0024] The determination module is used to determine the type of the target obstacle based on the first projected area, the first included angle, the second projected area, and the second included angle.

[0025] According to one embodiment of this application, the determining module includes:

[0026] The judgment unit is used to determine whether the second projected area is greater than the first projected area and whether the second included angle is greater than the first included angle;

[0027] The determination unit is used to determine that the type of the target obstacle is a raised obstacle when the second projected area is greater than the first projected area and the second included angle is greater than the first included angle.

[0028] According to one embodiment of this application, after determining whether the second projected area is greater than the first projected area, the determining unit is further configured to:

[0029] When the second projected area is smaller than the first projected area, the target obstacle is determined to be a pothole.

[0030] According to one embodiment of this application, after determining the type of the target obstacle based on the first projected area, the first included angle, the second projected area, and the second included angle, the determining module further includes:

[0031] A generation unit is used to generate target obstacle information according to the type of the target obstacle;

[0032] The reminder unit is used to send the target obstacle information to a preset terminal to remind the user of the target obstacle.

[0033] According to one embodiment of this application, after generating target obstacle information based on the type of the target obstacle, the generating unit is further configured to:

[0034] The target obstacle information is sent to the vehicle control system to control the vehicle to perform corresponding actions.

[0035] According to the road obstacle type recognition device proposed in this application, when it is determined that there is an obstacle projection on the road ahead of the vehicle, the device acquires the first projected area and the first included angle of the projection generated by illuminating the target obstacle at a first moment, and acquires the second projected area and the second included angle of the projection generated by illuminating the target obstacle at a second moment; the type of the target obstacle is determined based on the first projected area, the first included angle, the second projected area, and the second included angle. Therefore, by analyzing and determining the type of the target obstacle ahead based on the projected image information generated when there is a target obstacle on the road surface, the device solves the problems of poor recognition effect and information processing delay in the prior art for road obstacle situations, grasps the optimal timing for vehicle control, and improves the user experience.

[0036] To achieve the above objectives, a third aspect of this application provides a vehicle comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the road obstacle type identification method as described in the above embodiments.

[0037] To achieve the above objectives, a fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the road obstacle type identification method as described in the above embodiments.

[0038] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0039] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0040] Figure 1 This is a flowchart of a method for identifying road obstacle types according to an embodiment of this application;

[0041] Figure 2 This is a schematic diagram illustrating the changes in the projection of a vehicle relative to a target obstacle during its movement, according to an embodiment of this application.

[0042] Figure 3 This is a schematic diagram illustrating the changes in the projection of a vehicle onto a target obstacle during its movement, according to another embodiment of this application.

[0043] Figure 4 This is a block diagram of a road obstacle type identification device provided according to an embodiment of this application;

[0044] Figure 5This is a structural schematic diagram of a vehicle provided according to an embodiment of this application. Detailed Implementation

[0045] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0046] The following describes, with reference to the accompanying drawings, a method, apparatus, vehicle, and storage medium for identifying road obstacle types according to embodiments of this application. First, the method for identifying road obstacle types according to embodiments of this application will be described with reference to the accompanying drawings.

[0047] Figure 1 This is a flowchart of a method for identifying road obstacle types according to an embodiment of this application.

[0048] For example, such as Figure 1 As shown, the method for identifying this type of road obstacle includes the following steps:

[0049] In step S101, it is determined whether there is an obstacle projection on the road in front of the vehicle.

[0050] It is understood that the road obstacle type identification method proposed in this application is mainly based on the fact that when the vehicle's headlights illuminate the road ahead, if there is a target obstacle on the road ahead, an obstacle projection can be generated, thereby further identifying the type of obstacle on the road ahead.

[0051] Therefore, it can be seen that the present application embodiment can achieve the purpose of obstacle type identification using the vehicle's own headlights, without the need to install radar sensors or rely on cloud technology. This identification method is simple, intuitive, and not limited by the delay of network data transmission.

[0052] In step S102, if there is an obstacle projection on the road in front of the vehicle, the first projection area and the first included angle of the projection generated by the target obstacle are obtained at the first moment, and the second projection area and the second included angle of the projection generated by the target obstacle are obtained at the second moment.

[0053] Specifically, if an obstacle projection is detected on the road ahead of the vehicle, the onboard camera can acquire obstacle projection information, including changes in the projected area and angle of the headlights when illuminating the obstacle at different distances between the vehicle and the target obstacle. In other words, during the vehicle's movement, if... Figure 2 and Figure 3As shown, the first projected area and the first included angle of the projection generated by the headlight illuminating the target obstacle can be obtained by the vehicle-mounted camera at the first moment, and the second projected area and the second included angle of the projection generated by the headlight illuminating the target obstacle can be obtained by the vehicle-mounted camera at the second moment.

[0054] In step S103, the type of target obstacle is determined based on the first projected area, the first included angle, the second projected area, and the second included angle.

[0055] In other words, after the vehicle-mounted camera obtains obstacle projection information (first projection area, first included angle, second projection area and second included angle), the obstacle projection information can be transmitted to the vehicle system for recording and analysis. Based on the analysis results, the type of target obstacle can be determined, which facilitates timely feedback from the user to the vehicle control system and improves driving safety.

[0056] To facilitate understanding, the following details how to determine the type of target obstacle based on obstacle projection information.

[0057] As one possible implementation, in some embodiments, determining the type of the target obstacle based on the first projected area, the first included angle, the second projected area, and the second included angle includes: determining whether the second projected area is greater than the first projected area and whether the second included angle is greater than the first included angle; if the second projected area is greater than the first projected area and the second included angle is greater than the first included angle, then determining that the type of the target obstacle is a raised obstacle.

[0058] In other words, after the vehicle system receives the first projected area, the first included angle, the second projected area, and the second included angle, it can compare the size between the second projected area and the first projected area, as well as the size between the second included angle and the first included angle. If the second projected area is greater than the first projected area and the second included angle is greater than the first included angle, then the vehicle system will determine that the type of the target obstacle on the road in front of the vehicle is a raised obstacle.

[0059] Specifically, such as Figure 2 As shown, Figure 2 (a) is a schematic diagram of the projection and included angle generated when the distance between the vehicle and the target obstacle is L1. Figure 2(b) is a schematic diagram of the projection and included angle generated when the distance between the vehicle and the target obstacle is L2. During the vehicle's movement, when the distance between the vehicle and the target obstacle is L1 (i.e., the first moment), the onboard camera can acquire the first projected area S1 and the first included angle ∠α of the projection generated by the target obstacle. Similarly, when the distance between the vehicle and the target obstacle is L2 (i.e., the second moment), the onboard camera can acquire the second projected area S2 and the second included angle ∠β of the projection generated by the projection of the target obstacle. Based on the condition that L2 is less than L1, it is determined whether the second projected area S2 is greater than the first projected area S1 and whether the second included angle ∠β is greater than the first included angle ∠α. If the second projected area S2 is greater than the first projected area S1 and the second included angle ∠β is greater than the first included angle ∠α, then the type of target obstacle on the road ahead of the vehicle is determined to be a protruding obstacle.

[0060] Furthermore, in some other embodiments, after determining whether the second projected area is greater than the first projected area, the method further includes: if the second projected area is less than the first projected area, then determining that the type of the target obstacle is a pothole.

[0061] Specifically, such as Figure 3 As shown, Figure 3 (a) is a projection diagram generated when the distance between the vehicle and the target obstacle is L3. Figure 3 (b) is a projection diagram generated when the distance between the vehicle and the target obstacle is L4. During the vehicle's movement, when the distance between the vehicle and the target obstacle is L3 (i.e., the first moment), the onboard camera can acquire the first projected area S3 of the projection generated by illuminating the target obstacle. Similarly, when the distance between the vehicle and the target obstacle is L4 (i.e., the second moment), the onboard camera can acquire the second projected area S4 of the projection generated by illuminating the target obstacle. Based on the condition that L4 is less than L3, it is determined whether the second projected area S4 is less than the first projected area S3. If the second projected area S4 is less than the first projected area S3, and there is no extended projection behind the projection, then the type of target obstacle on the road ahead of the vehicle is determined to be a pothole.

[0062] Furthermore, in some embodiments, after determining the type of the target obstacle based on the first projected area, the first included angle, the second projected area, and the second included angle, the method further includes: generating target obstacle information based on the type of the target obstacle; and sending the target obstacle information to a preset terminal to remind the user of the target obstacle.

[0063] In other words, after the vehicle system analyzes and determines the type of the target obstacle, it can generate target obstacle information based on the type of the target obstacle, such as "the target obstacle is a raised obstacle" or "the target obstacle is a pothole". The target obstacle information is then sent to a preset terminal (such as an in-vehicle display screen) to remind the user of the type of the target obstacle ahead, so that the user can react in time and improve driving safety.

[0064] Furthermore, in some embodiments, after generating target obstacle information based on the type of target obstacle, the method further includes: sending the target obstacle information to the vehicle control system to control the vehicle to perform corresponding actions.

[0065] Understandably, in addition to being sent to the preset terminal, the target obstacle information can also be sent to the vehicle control system to assist the user in driving. The vehicle control system can then directly control the vehicle to make corresponding responses, further enhancing the user experience.

[0066] According to the road obstacle type identification method proposed in this application, when it is determined that there is an obstacle projection on the road ahead of the vehicle, the first projected area and the first included angle of the projection generated by illuminating the target obstacle are acquired at a first moment, and the second projected area and the second included angle of the projection generated by illuminating the target obstacle are acquired at a second moment; the type of the target obstacle is determined based on the first projected area, the first included angle, the second projected area, and the second included angle. Therefore, by analyzing and determining the type of the target obstacle ahead based on the projected image information generated when there is a target obstacle on the road surface, the method solves the problems of poor recognition effect and information processing delay in existing technologies, thus grasping the optimal timing for vehicle control and improving the user experience.

[0067] Next, with reference to the accompanying drawings, a road obstacle type identification device proposed according to an embodiment of this application is described.

[0068] Figure 4 This is a block diagram of a road obstacle type identification device according to an embodiment of this application.

[0069] like Figure 4 As shown, the road obstacle type identification device 10 includes: a judgment module 100, an acquisition module 200, and a determination module 300.

[0070] The judgment module 100 is used to determine whether there is an obstacle projection on the road in front of the vehicle.

[0071] The acquisition module 200 is used to acquire, at a first moment, the first projection area and the first included angle of the projection generated by the target obstacle when there is an obstacle projection on the road in front of the vehicle, and at a second moment, the second projection area and the second included angle of the projection generated by the target obstacle.

[0072] The determination module 300 is used to determine the type of target obstacle based on the first projected area, the first included angle, the second projected area, and the second included angle.

[0073] Furthermore, in some embodiments, the determining module 300 includes:

[0074] The judgment unit is used to determine whether the second projected area is greater than the first projected area and whether the second included angle is greater than the first included angle.

[0075] The determination unit is used to determine that the type of the target obstacle is a raised obstacle when the second projected area is greater than the first projected area and the second included angle is greater than the first included angle.

[0076] Furthermore, in some embodiments, after determining whether the second projected area is greater than the first projected area, the determining unit is further configured to:

[0077] When the second projected area is smaller than the first projected area, the target obstacle is determined to be a pothole.

[0078] Furthermore, in some embodiments, after determining the type of the target obstacle based on the first projected area, the first included angle, the second projected area, and the second included angle, the determining module 300 further includes:

[0079] The generation unit is used to generate target obstacle information based on the type of the target obstacle;

[0080] The reminder unit is used to send target obstacle information to a preset terminal to remind the user of the target obstacle.

[0081] Furthermore, in some embodiments, after generating target obstacle information based on the type of target obstacle, the generation unit is further configured to:

[0082] The target obstacle information is sent to the vehicle control system to control the vehicle to perform the corresponding actions.

[0083] It should be noted that the foregoing explanation of the method embodiment for identifying road obstacle types also applies to the road obstacle type identification device of this embodiment, and will not be repeated here.

[0084] According to the road obstacle type recognition device proposed in this application, when it is determined that there is an obstacle projection on the road ahead of the vehicle, the device acquires the first projected area and the first included angle of the projection generated by illuminating the target obstacle at a first moment, and acquires the second projected area and the second included angle of the projection generated by illuminating the target obstacle at a second moment; the type of the target obstacle is determined based on the first projected area, the first included angle, the second projected area, and the second included angle. Therefore, by analyzing and determining the type of the target obstacle ahead based on the projected image information generated when there is a target obstacle on the road surface, the device solves the problems of poor recognition effect and information processing delay in the prior art for road obstacle situations, grasps the optimal timing for vehicle control, and improves the user experience.

[0085] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0086] The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0087] When the processor 502 executes the program, it implements the road obstacle type identification method provided in the above embodiments.

[0088] Furthermore, the vehicle also includes:

[0089] Communication interface 503 is used for communication between memory 501 and processor 502.

[0090] The memory 501 is used to store computer programs that can run on the processor 502.

[0091] The memory 501 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0092] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0093] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0094] Processor 502 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of this application.

[0095] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described method for identifying road obstacle types.

[0096] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0097] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0098] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method of identifying a type of road obstacle, characterized by, The method comprises the following steps: determining whether an obstacle projection exists on a road ahead of a vehicle; if the obstacle projection exists on the road ahead of the vehicle, acquiring a first projection area and a first included angle of a projection generated by a target obstacle at a first time, and acquiring a second projection area and a second included angle of the projection generated by the target obstacle at a second time; determining a type of the target obstacle according to the first projection area, the first included angle, the second projection area and the second included angle; the determining of the type of the target obstacle according to the first projection area, the first included angle, the second projection area and the second included angle comprises: determining whether the second projection area is greater than the first projection area and whether the second included angle is greater than the first included angle, and determining that the type of the target obstacle is a convex obstacle if the second projection area is greater than the first projection area and the second included angle is greater than the first included angle; after determining whether the second projection area is greater than the first projection area, the method further comprises: determining that the type of the target obstacle is a pit if the second projection area is less than the first projection area.

2. The method of claim 1, wherein, after determining the type of the target obstacle according to the first projection area, the first included angle, the second projection area and the second included angle, the method further comprises: generating target obstacle information according to the type of the target obstacle; sending the target obstacle information to a preset terminal to remind a user of the target obstacle.

3. The method of claim 2, wherein, after generating the target obstacle information according to the type of the target obstacle, the method further comprises: sending the target obstacle information to a vehicle control system to control the vehicle to perform a corresponding action.

4. A device for recognizing a type of road obstacle, characterized by The method comprises: a determining module configured to determine whether an obstacle projection exists on a road ahead of a vehicle; an acquiring module configured to acquire a first projection area and a first included angle of a projection generated by a target obstacle at a first time if the obstacle projection exists on the road ahead of the vehicle, and acquire a second projection area and a second included angle of the projection generated by the target obstacle at a second time; a determining module configured to determine a type of the target obstacle according to the first projection area, the first included angle, the second projection area and the second included angle; the determining module comprises: a judging unit configured to determine whether the second projection area is greater than the first projection area and whether the second included angle is greater than the first included angle, and a determining unit configured to determine that the type of the target obstacle is a convex obstacle if the second projection area is greater than the first projection area and the second included angle is greater than the first included angle; after determining whether the second projection area is greater than the first projection area, the judging unit is further configured to determine that the type of the target obstacle is a pit if the second projection area is less than the first projection area.

5. A vehicle characterized by comprising: The method comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for identifying a type of a road obstacle according to any one of claims 1-3.

6. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor for implementing the road obstacle type identification method according to any one of claims 1-3.

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